一种地理围栏内无人机航迹跟踪方法

针对UTM体制中无人机在地理围栏内的飞行监视问题,提出一种约束状态相关模态转换混合估计算法(CSDTHE)。采用随机线性混杂系统模型对无人机运动状态进行建模,利用CV、CT和CA三种模态描述无人机的飞行状态,以构建地理围栏内无人机运行的通用模态转换模型框架。利用飞行模态改变点(FMCP)定义相关模态转换参数,设计模态转换条件,生成模态转换概率矩阵,从而建立与状态相关的模态转换模型。运用约束卡尔曼滤波(CKF)方法对直线阶段和转弯阶段的无人机运动速度分别施加等式约束,并通过仿真实验验证了CSDTHE算法对无人机跟踪的有效性。

A path tracking method for UAV in geo-fence

In this paper,the constrained state-dependent-transition hybrid estimation algorithm(CSDTHE)is proposed aiming at the problem of unmanned aerial vehicle(UAV)flight surveillance within geo-fence in UTM system.The UAV’s motion state is modeled by stochastic linear hybrid system model.CV,CT and CA modes are used to describe the UAV’s flight state,and then a general mode transition model framework for operation of UAV in geo-fence is constructed.The flight mode change point(FMCP)is used to define the relevant mode transition parameters,design the mode transition conditions and generate mode transition probability matrix so as to establish the mode transition model related to the state.Constrained Kalman filter(CKF)method is used to impose equality constraints on the velocity of UAV in straight line phase and turning phase respectively.The simulation results verify the effectiveness of CSDTHE algorithm for UAV tracking.